一种用于CT扫描引导手术的患者安装式机器人平台。
A patient-mounted robotic platform for CT-scan guided procedures.
作者信息
Maurin Benjamin, Bayle Bernard, Piccin Olivier, Gangloff Jacques, de Mathelin Michel, Doignon Christophe, Zanne Philippe, Gangi Afshin
机构信息
Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection (LSIIT), University of Strasbourg, National Center for Scientific Research (CNRS), and Department of Radiology B, University Hospitals of Strasbourg, France.
出版信息
IEEE Trans Biomed Eng. 2008 Oct;55(10):2417-25. doi: 10.1109/TBME.2008.919882.
In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional procedures. The specifications, the design, and the choice of compatible technological solutions are detailed. A preclinical evaluation is presented, with the registration of the robot in the CT-scan.
在本文中，我们展示了一种新型的机器人助手，专门用于计算机断层扫描引导下的医疗干预。这种紧凑且轻便的安装在患者身上的机器人经过设计，以满足大多数介入放射学程序的要求。它由具有半球形工作空间的原始五自由度并联结构构建而成，特别适合CT扫描介入程序。详细介绍了其规格、设计以及兼容技术解决方案的选择。还展示了一项临床前评估，包括机器人在CT扫描中的配准。
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